E-raamat: Advances in Robot Kinematics: Analysis and Control

1. Plenary 7(22) P. Dietmaier The Stewart-Gough platform of general geometry can have 40 real postures 7(10) K.J. Waldron P-H. Yang Parallel arrays of binary actuators 17(12)
2. Kinematics of Parallel Robots 29(88) B. Siciliano A study on the kinematics of a class of parallel manipulators 29(10) J-P. Merlet Determination of the presence of singularities in 6D workspace of a Gough parallel manipulator 39(10) R. Di Gregorio V. Parenti-Castelli A translational 3-dof parallel manipulator 49(10) M.J.D. Hayes P.J. Zsombor-Murray Inverse kinematics of a planar manipulator with holonomic higher pairs 59(10) A.P. Murray F. Pierrot N-position synthesis of parallel planar RPR platforms 69(10) M.L. Keler Dual expansion of an optimal in-parallel spherical platform device into a spatial one 79(8) S. Wang H. Hikita N. Hanajima M. Yamashita Y. Zhao Z. Huang Kinematics and force analysis of a 6 d.o.f. parallel mechanism with elastic joints 87(10) T. Maier C. Woernle Inverse kinematics for an underconstrained cable suspension manipulator 97(8) R. Verhoeven M. Hiller S. Tadokoro Workspace, stiffness, singularities and classification of tendon-driven Stewart platforms 105(12)
3. Direct Analysis and Design of Parallel Robots 117(70) Ph. Wenger D. Chablat Workspace and assembly modes in fully-parallel manipulators: a descriptive study 117(10) L. Baron J. Angeles The on-line direct kinematics of parallel manipulators under joint-sensor redundancy 127(10) C. Innocenti Forward kinematics of a 6-6 fully-parallel manipulator with congruent base and platform 137(10) T.K. Tanev Forward displacement analysis of a three-legged four-degree-of-freedom parallel manipulator 147(8) V. Brodsky D. Glozman M. Shoham Double circular-triangular six-degrees-of-freedom parallel robot 155(10) J. Hesselbach N. Plitea M. Frindt A. Kusiek A new parallel mechanism to use for cutting convex glass panels 165(10) A.B. Lintott G.R. Dunlop Geometric modelling of general parallel mechanisms for calibration purposes 175(12)
4. Control and Design 187(80) B. Espiau On the mass center of articulated chains 187(10) W. Wroblewski F. Caccavale A spatial algebra approach to kinematic control of dual-arm systems 197(10) M. Vincze S. Spiess M. Gotz G. Zeichen Automatic generation of error models of the kinematics of robots 207(10) F. Pierrot M. Benoit P. Dauchez Samos: A Pythagorean solution for omni-directional underwater vehicles 217(10) C.R. Tischler A.E. Samuel Predicting the slop of in-series/parallel manipulators caused by joint clearances 227(10) J.M. Wiitala M.M. Stanisic Kinematics of a split-equator symmetrically actuated double pointing system used in a robotic wrist 237(10) M. Ceccarelli An analytical design of telescopic manipulator arms for prescribed workspace 247(8) P. Fanghella Modular kinematics of planar mechanisms with prismatic pairs and flexible links 255(12)
5. Basic Kinematics, Application of Screw Theory 267(88) P. Zsombor-Murray M.L. Husty P. Gervasi Geometry in mechanics 267(10) K. Wohlhart The kinematics of Roschel polyhedra 277(10) H. Stachel A remarkable overconstrained spherical motion 287(10) E. Peisach Analytical kinematics of overconstrained 20-link 24R mechanism: Branches with one, two and three degrees of freedom 297(10) J. Duffy C. Crane B. Knight J. Rooney An investigation of a special motion of an octahedron manipulator using screw theory 307(10) I.A. Parkin Linear systems of tan-screws for finite displacement of a rigid body with symmetries 317(10) L.W. Tsai The Jacobian analysis of a parallel manipulator using reciprocal screws 327(10) J.E. Baker I.A. Parkin On compounding three successive finite displacement screws 337(6) H. Bruyninckx J. De Schutter Unified kinetostatics for serial, parallel and mobile robots 343(12)
6. Special Methods in Kinematic Analysis 355(70) A.B. Kyatkin G.S. Chirikjian Applications of Fourier methods on the motion group in robot kinematics 355(10) J.P. Desai M. Zefran V. Kumar A geometric approach to second and higher order kinematic analysis 365(10) A.A. Khwaja M.O. Rahman M.G. Wagner Inverse kinematics of arbitrary robotic manipulators using genetic algorithms 375(8) P. Gervasi V. Karakusevic P.J. Zsombor-Murray An algorithm for solving the inverse kinematics of a 6R serial manipulator using dual quaternions and Grassmannians 383(10) A. Castellet F. Thomas An algorithm for the solution of inverse kinematics problems based on an interval method 393(10) H. Pottmann M. Peternell B. Ravani Approximation in line space--applications in robot kinematics and surface reconstruction 403(10) B. Juttler Rotation minimizing spherical motions 413(12)
7. Isotropy versus Singularity 425(88) N. Arenson J. Angeles L. Slutski Redundancy-resolution algorithms for isotropic robots 425(10) Jose Maria Rico M. J. Duffy Robot isotropy: A reassessment 435(10) A. Karger Architecture singular parallel manipulators 445(10) S. Mick O. Roschel Geometry & architecturally shaky platforms 455(10) O. Roschel S. Mick Characterisation of architecturally shaky platforms 465(10) G. Schreiber G. Hirzinger Singularity consistent inverse kinematics by enhancing the Jacobian transpose 475(8) F.C. Park J.W. Kim A singularity classification for closed chains 483(10) P.H. Milenkovic V. Milenkovic Coordination of redundant articulatory parameters near a singularity in the vocal mechanism 493(8) F. Boyer N. Glandais W Khalil Jacobian of a flexible manipulator undergoing large elastic displacements 501(12)
8. Biorobotics 513(66) P. Drouet S. Dubowsky C. Mavroidis Compensation of geometric and elastic deflection errors in large manipulators based on experimental measurements: application to a high accuracy medical manipulator 513(10) D. Ruspini O. Khatib Dynamic models for haptic rendering systems 523(10) L. Royer C. Bidard C. Andriot Determination of singularities and self-motion of a 7-dof anthropomorphic manipulator 533(10) T. Karcnik A. Kralj Kinematic stability in quadrupedal locomotion 543(8) J. Hesselbach M.B. Helm H. Kerle M. Frindt A-M. Weinberg Kinematics of the human forearms pro- and supination 551(10) V. Kromer A. Rassineux M. Gueury The human lower limb system during swing phase of gait--A flexible mechanism with optimized actuators 561(10) J. Lenarcic The self motion of an anthropomorphic manipulator 571(8) Author Index 579(2) Subject Index 581